JP6568478B2 - 低侵襲治療のための計画、誘導およびシミュレーションシステムおよび方法 - Google Patents
低侵襲治療のための計画、誘導およびシミュレーションシステムおよび方法 Download PDFInfo
- Publication number
- JP6568478B2 JP6568478B2 JP2015561870A JP2015561870A JP6568478B2 JP 6568478 B2 JP6568478 B2 JP 6568478B2 JP 2015561870 A JP2015561870 A JP 2015561870A JP 2015561870 A JP2015561870 A JP 2015561870A JP 6568478 B2 JP6568478 B2 JP 6568478B2
- Authority
- JP
- Japan
- Prior art keywords
- computer
- surgical
- volume
- tissue
- patient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 266
- 238000013439 planning Methods 0.000 title claims description 72
- 238000011282 treatment Methods 0.000 title claims description 20
- 238000004088 simulation Methods 0.000 title description 10
- 238000003384 imaging method Methods 0.000 claims description 143
- 210000004556 brain Anatomy 0.000 claims description 132
- 238000001356 surgical procedure Methods 0.000 claims description 96
- 238000002595 magnetic resonance imaging Methods 0.000 claims description 55
- 238000003860 storage Methods 0.000 claims description 47
- 230000006378 damage Effects 0.000 claims description 30
- 238000002598 diffusion tensor imaging Methods 0.000 claims description 29
- 230000008569 process Effects 0.000 claims description 29
- 238000009792 diffusion process Methods 0.000 claims description 27
- 210000003484 anatomy Anatomy 0.000 claims description 21
- 210000004204 blood vessel Anatomy 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 15
- 238000011084 recovery Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000002597 diffusion-weighted imaging Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 230000002490 cerebral effect Effects 0.000 claims description 3
- 230000003204 osmotic effect Effects 0.000 claims 6
- 238000004040 coloring Methods 0.000 claims 2
- 210000005166 vasculature Anatomy 0.000 claims 2
- 210000001519 tissue Anatomy 0.000 description 126
- 206010028980 Neoplasm Diseases 0.000 description 78
- 238000013459 approach Methods 0.000 description 69
- 239000000835 fiber Substances 0.000 description 67
- 210000004885 white matter Anatomy 0.000 description 37
- 230000037361 pathway Effects 0.000 description 23
- 210000004884 grey matter Anatomy 0.000 description 22
- 210000005036 nerve Anatomy 0.000 description 20
- 238000007428 craniotomy Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 16
- 238000012800 visualization Methods 0.000 description 16
- 208000014674 injury Diseases 0.000 description 14
- 238000012636 positron electron tomography Methods 0.000 description 14
- 230000008733 trauma Effects 0.000 description 14
- 238000012549 training Methods 0.000 description 13
- 210000005013 brain tissue Anatomy 0.000 description 12
- 238000004422 calculation algorithm Methods 0.000 description 12
- 239000002872 contrast media Substances 0.000 description 12
- 230000037431 insertion Effects 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 12
- 238000002271 resection Methods 0.000 description 12
- 238000003780 insertion Methods 0.000 description 11
- 230000000670 limiting effect Effects 0.000 description 11
- 238000004458 analytical method Methods 0.000 description 10
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 10
- 238000002604 ultrasonography Methods 0.000 description 10
- 238000002059 diagnostic imaging Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 9
- 238000002599 functional magnetic resonance imaging Methods 0.000 description 9
- 230000003902 lesion Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 9
- 210000004126 nerve fiber Anatomy 0.000 description 9
- 238000012545 processing Methods 0.000 description 9
- 210000003625 skull Anatomy 0.000 description 9
- 201000010099 disease Diseases 0.000 description 8
- 238000012014 optical coherence tomography Methods 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 8
- 238000012937 correction Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 7
- 210000003128 head Anatomy 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 238000009877 rendering Methods 0.000 description 7
- 239000000523 sample Substances 0.000 description 7
- 238000001574 biopsy Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000001951 dura mater Anatomy 0.000 description 6
- 210000000056 organ Anatomy 0.000 description 6
- 239000000243 solution Substances 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 208000003174 Brain Neoplasms Diseases 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 5
- 230000017531 blood circulation Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 5
- 238000002591 computed tomography Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 210000003041 ligament Anatomy 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 5
- 238000012384 transportation and delivery Methods 0.000 description 5
- 208000007536 Thrombosis Diseases 0.000 description 4
- 230000003925 brain function Effects 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 4
- 208000015122 neurodegenerative disease Diseases 0.000 description 4
- 238000012634 optical imaging Methods 0.000 description 4
- 230000035515 penetration Effects 0.000 description 4
- 230000035699 permeability Effects 0.000 description 4
- 230000000638 stimulation Effects 0.000 description 4
- 230000002792 vascular Effects 0.000 description 4
- 208000024827 Alzheimer disease Diseases 0.000 description 3
- 229910052688 Gadolinium Inorganic materials 0.000 description 3
- 208000018737 Parkinson disease Diseases 0.000 description 3
- 208000030886 Traumatic Brain injury Diseases 0.000 description 3
- 238000002679 ablation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 3
- 210000001367 artery Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 3
- UIWYJDYFSGRHKR-UHFFFAOYSA-N gadolinium atom Chemical compound [Gd] UIWYJDYFSGRHKR-UHFFFAOYSA-N 0.000 description 3
- 238000002372 labelling Methods 0.000 description 3
- 230000003278 mimic effect Effects 0.000 description 3
- 201000006417 multiple sclerosis Diseases 0.000 description 3
- 230000008520 organization Effects 0.000 description 3
- 230000001575 pathological effect Effects 0.000 description 3
- 230000007170 pathology Effects 0.000 description 3
- 230000010287 polarization Effects 0.000 description 3
- 230000002980 postoperative effect Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000001959 radiotherapy Methods 0.000 description 3
- 210000002435 tendon Anatomy 0.000 description 3
- 230000037303 wrinkles Effects 0.000 description 3
- ZCYVEMRRCGMTRW-UHFFFAOYSA-N 7553-56-2 Chemical compound [I] ZCYVEMRRCGMTRW-UHFFFAOYSA-N 0.000 description 2
- 230000005653 Brownian motion process Effects 0.000 description 2
- 208000004434 Calcinosis Diseases 0.000 description 2
- 208000032843 Hemorrhage Diseases 0.000 description 2
- 206010061216 Infarction Diseases 0.000 description 2
- 206010030113 Oedema Diseases 0.000 description 2
- 238000012879 PET imaging Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 208000029028 brain injury Diseases 0.000 description 2
- 210000000133 brain stem Anatomy 0.000 description 2
- 238000005537 brownian motion Methods 0.000 description 2
- 230000002308 calcification Effects 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 210000003710 cerebral cortex Anatomy 0.000 description 2
- 210000001175 cerebrospinal fluid Anatomy 0.000 description 2
- 230000001054 cortical effect Effects 0.000 description 2
- 210000003792 cranial nerve Anatomy 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 230000001086 cytosolic effect Effects 0.000 description 2
- 230000023753 dehiscence Effects 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 238000002091 elastography Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 230000007574 infarction Effects 0.000 description 2
- 230000009545 invasion Effects 0.000 description 2
- 229910052740 iodine Inorganic materials 0.000 description 2
- 239000011630 iodine Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001537 neural effect Effects 0.000 description 2
- 230000000926 neurological effect Effects 0.000 description 2
- 238000006213 oxygenation reaction Methods 0.000 description 2
- 238000012831 peritoneal equilibrium test Methods 0.000 description 2
- 238000002600 positron emission tomography Methods 0.000 description 2
- 238000012877 positron emission topography Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012552 review Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 210000004761 scalp Anatomy 0.000 description 2
- 238000010845 search algorithm Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 210000000130 stem cell Anatomy 0.000 description 2
- 238000011477 surgical intervention Methods 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 2
- 230000009529 traumatic brain injury Effects 0.000 description 2
- 230000000472 traumatic effect Effects 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 229920001817 Agar Polymers 0.000 description 1
- 208000014644 Brain disease Diseases 0.000 description 1
- 206010008111 Cerebral haemorrhage Diseases 0.000 description 1
- 208000016192 Demyelinating disease Diseases 0.000 description 1
- 206010018852 Haematoma Diseases 0.000 description 1
- 208000023105 Huntington disease Diseases 0.000 description 1
- 241000446313 Lamella Species 0.000 description 1
- 206010058467 Lung neoplasm malignant Diseases 0.000 description 1
- 238000012307 MRI technique Methods 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000025966 Neurological disease Diseases 0.000 description 1
- 208000021384 Obsessive-Compulsive disease Diseases 0.000 description 1
- 208000037062 Polyps Diseases 0.000 description 1
- 238000001069 Raman spectroscopy Methods 0.000 description 1
- 238000001237 Raman spectrum Methods 0.000 description 1
- 235000009754 Vitis X bourquina Nutrition 0.000 description 1
- 235000012333 Vitis X labruscana Nutrition 0.000 description 1
- 240000006365 Vitis vinifera Species 0.000 description 1
- 235000014787 Vitis vinifera Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000012152 algorithmic method Methods 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003339 best practice Methods 0.000 description 1
- 208000034158 bleeding Diseases 0.000 description 1
- 230000008499 blood brain barrier function Effects 0.000 description 1
- 210000001218 blood-brain barrier Anatomy 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 238000009104 chemotherapy regimen Methods 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000003066 decision tree Methods 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005251 gamma ray Effects 0.000 description 1
- 238000002682 general surgery Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 201000010536 head and neck cancer Diseases 0.000 description 1
- 208000014829 head and neck neoplasm Diseases 0.000 description 1
- 230000004217 heart function Effects 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000003100 immobilizing effect Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 208000020658 intracerebral hemorrhage Diseases 0.000 description 1
- 238000001990 intravenous administration Methods 0.000 description 1
- 238000010253 intravenous injection Methods 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- 230000005865 ionizing radiation Effects 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 239000003589 local anesthetic agent Substances 0.000 description 1
- 229960005015 local anesthetics Drugs 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 201000005202 lung cancer Diseases 0.000 description 1
- 208000020816 lung neoplasm Diseases 0.000 description 1
- 238000002582 magnetoencephalography Methods 0.000 description 1
- 208000024714 major depressive disease Diseases 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000002503 metabolic effect Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000037023 motor activity Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 238000002610 neuroimaging Methods 0.000 description 1
- 208000014500 neuronal tumor Diseases 0.000 description 1
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 1
- 238000009206 nuclear medicine Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 210000000496 pancreas Anatomy 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000001817 pituitary effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 210000002307 prostate Anatomy 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000010410 reperfusion Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000010206 sensitivity analysis Methods 0.000 description 1
- 210000001154 skull base Anatomy 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 238000012306 spectroscopic technique Methods 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000009168 stem cell therapy Methods 0.000 description 1
- 238000009580 stem-cell therapy Methods 0.000 description 1
- 208000023516 stroke disease Diseases 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000013334 tissue model Methods 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
- 230000003966 vascular damage Effects 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
- 230000002747 voluntary effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
- A61B5/004—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for image acquisition of a particular organ or body part
- A61B5/0042—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for image acquisition of a particular organ or body part for the brain
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/037—Emission tomography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/501—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of the head, e.g. neuroimaging or craniography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0808—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the brain
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/04815—Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04842—Selection of displayed objects or displayed text elements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/60—Memory management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
- A61B2090/3735—Optical coherence tomography [OCT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10088—Magnetic resonance imaging [MRI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
- G06T2207/20101—Interactive definition of point of interest, landmark or seed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30016—Brain
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/41—Medical
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/028—Multiple view windows (top-side-front-sagittal-orthogonal)
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Theoretical Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Radiology & Medical Imaging (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Software Systems (AREA)
- High Energy & Nuclear Physics (AREA)
- Computer Graphics (AREA)
- Optics & Photonics (AREA)
- Neurology (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Computer Hardware Design (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Pulmonology (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Architecture (AREA)
- Neurosurgery (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Geometry (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Description
本開示は、低侵襲治療のための計画、誘導およびシミュレーションシステムおよび方法に関する。
本明細書において、患者の身体の表面箇所から、アプローチおよび手術されるべき身体内の目標位置までの手術軌跡進路を計画するための、コンピュータ上で実行される計画方法が開示される。計画方法は非常に一般的であり、患者の身体の任意の部分に適用することができる。方法は、3D画像データセットまたはボリュームを取得するように構成されている少なくとも1つのイメージングモダリティを使用して、患者の身体の手術されるべき部分の術前画像を取得することと、3D画像データセットまたはボリュームを記憶媒体内に記憶することとを含む。特に、患者の手術されるべき解剖学的部分が、イメージングモダリティの特定のタイプまたは組み合わせに最良に適している場合に、2つ以上のイメージングモダリティが使用されてもよいことが理解されよう。3Dボリュームの画像は、アプローチされるべき1つまたは複数の目標とともに、身体内への可能性のある入口点を含む3D画像データセットから生成される。3Dボリュームの画像は、記憶される記憶媒体。1つまたは複数の目標の位置が識別されると、それらの位置(複数の場合もあり)が、「再フォーマット」と称される、データの2D平面推定値または投影上で調整および/または確認され得る。この技法は、画像データを含む3D空間を通る1つまたは複数の2D平面の表現を視覚化する。そのような平面は、多くの場合直交し、多くの場合「多断面再構成」または「MPR」のように正準(軸、冠状、矢状)方向において示される。共通の軸を通る1つまたは複数の平面が示され、それらの平面がすべてその軸を中心として回転する「ラジアルスタッキング」のような、他の変形形態が存在する。しかしながら、単一ソースまたは複数ソースの融合からの画像データを含む、平面の任意の構成が使用されてもよいことが諒解されよう。3Dデータ(MRI、CT、または3D超音波ボリュームなどからの)が存在する場合、任意の適切で標準的な補間方式を用いてサンプリング格子から補間することによって、再フォーマット画像を生成することができる。所望されるデータが本質的に二次元(X線、または2D超音波)である場合、データは、再フォーマット平面上に投影されるか、またはその平面交差のみが提示されるか、または両方の手法が所望に応じて融合され得る。再フォーマット平面がユーザに提示されると、ユーザは、3D空間内の正確な位置を識別することを満たすまで、3D空間内の各平面位置を調整し、各平面表現に対する目標位置を精緻化することができる。
図5は、計画システムに含まれる処理ステップを、流れ図を使用して示す。第1のステップは、患者の術前画像を取得すること(図5のステップ500に示す)を含む。画像データ系列は最初に、PACSサーバのようなデータベースまたはサーバからソフトウェアにインポートされる。術前手術計画方法およびシステムは、MRI、CT、PET、または、侵襲的処置が開始される前に脳の望ましい部分をイメージングするために必要な組織透過性を有する同様のモダリティの少なくとも1つまたは組み合わせを使用して得られる術前画像(すなわち、外科的処置を開始する前に得られる画像)を使用し、それらの画像は一般的に、空間内でイメージングを方向付けるための基準または他のマーカを含む。
Claims (20)
- 患者の身体内の組織の中の1つまたは複数の目標までの1つまたは複数の手術軌跡経路を計画するシステムであって、
前記患者の身体の解剖学的部分の1つまたは複数のイメージングモダリティからの1つまたは複数の術前のイメージングデータセットをその内部に記憶するよう構成されている記憶メモリデバイスであって、前記1つまたは複数のイメージングデータセットのうちの少なくとも1つが、1つまたは複数の拡散MRIデータセットである、記憶メモリデバイスと、
前記記憶メモリデバイスと通信するコンピュータプロセッサであって、
前記1つまたは複数の術前のイメージングデータセットから、1つまたは複数の前記組織への可能性のある脳溝入口点および1つまたは複数のアプローチされるべき目標を含む、前記患者の身体の前記解剖学的部分のボリュームの画像と関連データであって、前記関連データのうちの少なくとも1つは、前記1つまたは複数の拡散MRIデータセットから生成される前記解剖学的部分の前記ボリュームのトラクトグラフィである、画像と関連データを生成し、
前記ボリュームの前記画像と関連データを記憶するようにプログラムされているコンピュータプロセッサと、
前記コンピュータプロセッサと通信するコンピュータ・ユーザインターフェースであって、
外科的処置の間にアプローチされるべき前記1つまたは複数の目標のユーザの選択を受信し、前記1つまたは複数の目標の位置を記憶し、
前記ボリュームの前記画像と関連データを表示し、
前記患者の組織への前記1つまたは複数の可能性のある脳溝入口点のユーザの選択を受信し、
前記1つまたは複数の可能性のある脳溝入口点から前記1つまたは複数の目標までの1つまたは複数の可能性のある手術軌跡経路と、前記トラクトグラフィおよび前記解剖学的部分の前記ボリューム内の選択されるその他の解剖学的特徴との相互作用を生成して表示し、
前記1つまたは複数の可能性のある手術軌跡経路からの1つまたは複数の手術軌跡経路のユーザの選択を受け入れ、
前記1つまたは複数の手術軌跡経路を前記メモリデバイスに記憶する、コンピュータ・ユーザインターフェースと、を備えるシステム。 - 患者の身体内の組織の中の1つまたは複数の目標までの1つまたは複数の手術軌跡経路を計画するシステムであって、
前記患者の身体の解剖学的部分の1つまたは複数のイメージングモダリティからの1つまたは複数の術前のイメージングデータセットをその内部に記憶するよう構成されている記憶メモリデバイスであって、前記1つまたは複数のイメージングデータセットのうちの少なくとも1つが、1つまたは複数の拡散MRIデータセットである、記憶メモリデバイスと、
前記記憶メモリデバイスと通信するコンピュータプロセッサであって、
前記1つまたは複数の術前のイメージングデータセットから、1つまたは複数の前記組織への可能性のある脳溝入口点および1つまたは複数のアプローチされるべき目標を含む、前記患者の身体の前記解剖学的部分のボリュームの画像と関連データであって、前記関連データのうちの少なくとも1つは、前記1つまたは複数の拡散MRIデータセットから生成される前記解剖学的部分の前記ボリュームのトラクトグラフィである、画像と関連データを生成し、
前記ボリュームの前記画像と関連データを記憶メモリデバイスに記憶するようにプログラムされている、コンピュータプロセッサと、
前記コンピュータプロセッサと通信するコンピュータ・ユーザインターフェースであって、
外科的処置の間にアプローチされるべき前記1つまたは複数の目標を前記プロセッサから受信し、前記1つまたは複数の目標の位置を記憶し、
トラクトグラフィ、および前記解剖学的部分の前記ボリュームのその他の画像を前記1つまたは複数の目標の位置とともに表示し、
前記患者の組織への前記1つまたは複数の可能性のある脳溝入口点を前記プロセッサから受信し、
前記1つまたは複数の可能性のある脳溝入口点から前記1つまたは複数の目標までの1つまたは複数の可能性のある手術軌跡経路と、前記トラクトグラフィおよび前記解剖学的部分の前記ボリューム内の選択されるその他の解剖学的特徴との相互作用を生成して表示し、
前記1つまたは複数の可能性のある手術軌跡経路からの1つまたは複数の手術軌跡経路のユーザの選択を受け入れ、
1つまたは複数の手術軌跡経路を前記メモリデバイスに記憶する、コンピュータ・ユーザインターフェースと、を備えるシステム。 - 前記拡散MRIデータセットが、拡散テンソルイメージング(DTI)及び拡散強調イメージング(DWI)の少なくとも一つで構成される、請求項1または2のいずれか一項に記載のシステム。
- コンピュータ・プロセッサは、コンピュータ・ユーザ・インタフェースを介して、前記ボリュームおよび関連データの表示を、前記解剖学的部分の前記ボリュームのトラクトグラフィおよび画像を前記1つまたは複数の目標の位置とともに表示することによって、さらにプログラムされ、並びに、
コンピュータ・プロセッサは、1つ以上の外科的軌跡経路にスコアをつけるためにさらにプログラムされ、スコアをつけることは、2つの格子点の間の直接経路に沿って積算された少なくとも一つのピクセル強度、平均損傷量、経路長さ、方向変化に使用されるウェイポイントの数、浸透性組織構造の性質、統計的患者回復データ、 血管、浸透性組織構造の長さ、および横断性組織構造の脆弱性、に基づく重み付けで構成される、
請求項1または2のいずれか一項に記載のシステム。 - 生成される前記1つまたは複数のボリュームの画像と関連データのうちの少なくとも1つにより、前記解剖学的部分の血管系の視覚表現が提供される、請求項1または2のいずれか一項に記載のシステム。
- 2つ以上の前記ボリュームの画像と関連データが、互いに重なって仮想表現を生成する、請求項1〜5のいずれか一項に記載のシステム。
- 実施される前記トラクトグラフィの変調は、視覚の変調で構成され、並びに
視覚の変調は、透明度、色付け、外形、および色の諧調の少なくとも一つで構成される、
請求項6に記載のシステム。 - 前記記憶メモリデバイスが、1つまたは複数の仮想医療器具のデータベースを記憶するようさらに構成され、並びに、前記記憶デバイスと通信する前記コンピュータプロセッサが、前記可能性のある手術軌跡経路に沿った前記医療器具の視覚表現を前記仮想医療器具のデータベースから生成するようにさらにプログラムされている、請求項1〜7のいずれか一項に記載のシステム。
- 手術目的が、前記仮想医療器具と前記可能性のある手術軌道経路の少なくとも1つとの交点、前記仮想医療器具の周辺、前記仮想医療器具と束との間のカットオフ角度、束の長さ、束の端から前記仮想医療器具までの距離、前記仮想医療器具の端からの距離、束の相対密度、前記仮想医療器具の長さに沿った束の位置、前記解剖学的部分内の前記束の位置、前記解剖学的部分内の前記仮想医療器具の位置、および前記解剖学的部分に対する束の方向の少なくとも一つで構成される、請求項8に記載のシステム。
- 患者の身体内の組織の中の1つまたは複数の目標までの1つまたは複数の手術軌跡経路を計画する、コンピュータ上で実行される方法であって、
コンピュータの記憶メモリデバイスを用いて、前記患者の身体の解剖学的部分の1つまたは複数のイメージングモダリティからの1つまたは複数の術前のイメージングデータセットを記憶するステップであって、前記1つまたは複数のイメージングデータセットのうちの少なくとも1つが、1つまたは複数の拡散MRIデータセットである、ステップと、
コンピュータのコンピュータプロセッサを用いて、前記1つまたは複数のイメージングデータセットを処理して、前記1つまたは複数の術前のイメージングデータセットから、1つまたは複数の前記組織への可能性のある脳溝入口点および1つまたは複数のアプローチされるべき目標を含む、前記患者の身体の前記解剖学的部分のボリュームの1つまたは複数の画像と関連データを生成するステップであって、前記関連データのうちの少なくとも1つは、前記1つまたは複数の拡散MRIデータセットから生成される前記解剖学的部分の前記ボリュームのトラクトグラフィである、ステップと、
コンピュータの記憶メモリデバイスを用いて、前記ボリュームの前記画像と関連データを記憶するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、外科的処置の間にアプローチされるべき前記1つまたは複数の目標の位置のユーザの選択を受信し、前記1つまたは複数の目標の位置を前記記憶メモリデバイスに記憶するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記画像と関連データボリュームを表示するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記患者の組織への前記1つまたは複数の可能性のある脳溝入口点のユーザの選択を受信するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記1つまたは複数の可能性のある脳溝入口点から前記1つまたは複数の目標までの1つまたは複数の可能性のある手術軌跡経路と、前記トラクトグラフィおよび前記解剖学的部分の前記ボリューム内のその他の選択される解剖学的特徴との相互作用と、を表示するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記1つまたは複数の可能性のある手術軌跡経路からの1つまたは複数の手術軌跡経路のユーザの選択を受け入れるステップと、
コンピュータの記憶メモリデバイスを用いて、前記1つまたは複数の手術軌跡経路を前記記憶メモリデバイスに記憶するステップと、を含む方法。 - コンピュータ・ユーザ・インタフェースを介して、前記ボリュームおよび関連データを表示するステップには、トラクトグラフィおよび前記解剖学的部分の前記ボリュームのその他の画像を前記1つまたは複数の目標の位置とともに表示することがさらに含まれ、並びに、
コンピュータ・プロセッサは、1つ以上の外科的軌跡経路にスコアをつけるためにさらにプログラムされ、スコアをつけることは、2つの格子点の間の直接経路に沿って積算された少なくとも一つのピクセル強度、平均損傷量、経路長さ、方向変化に使用されるウェイポイントの数、浸透性組織構造の性質、統計的患者回復データ、 血管、浸透性組織構造の長さ、および横断性組織構造の脆弱性、に基づく重み付けで構成される、
請求項10に記載の方法。 - コンピュータ・ユーザ・インタフェースを介して、前記ボリュームおよび関連データの表示は、生成される前記1つまたは複数のボリュームの画像と関連データのうちの少なくとも1つを表示することをさらに含み、それによって前記解剖学的部分の血管系の視覚表現が提供される、請求項10に記載の方法。
- コンピュータのコンピュータプロセッサを用いて、前記1つまたは複数のイメージングデータセットを処理して、前記1つまたは複数の術前のイメージングデータセットから、1つまたは複数の前記組織への可能性のある脳溝入口点および1つまたは複数のアプローチされるべき目標を含む、脳の前記解剖学的部分のボリュームの画像と関連データを生成するステップであって、前記関連データのうちの少なくとも1つは、前記1つまたは複数の拡散MRIデータセットから生成される前記解剖学的部分の前記ボリュームのトラクトグラフィである、請求項10〜12のいずれか一項に記載の方法。
- コンピュータのコンピュータ・ユーザ・インターフェースを使用して、ボリュームおよび関連データを表示することは、生成される前記1つまたは複数のボリュームの画像と関連データのうちの少なくとも1つを表示することをさらに含み、それによって脳の溝の視覚表現が提供される、請求項10に記載の方法。
- コンピュータのコンピュータ・ユーザ・インターフェースを使用して、ボリュームおよび関連データを表示することは、2つ以上のボリュームの画像と関連データが、互いに重なって仮想表現を生成するようにオーバーレイすることをさらに含む、請求項10〜14のいずれか一項に記載の方法。
- コンピュータのコンピュータプロセッサを用いて、前記1つまたは複数のイメージングデータセットを処理して、前記1つまたは複数の術前のイメージングデータセットから、1つまたは複数の前記組織への可能性のある脳溝入口点および1つまたは複数のアプローチされるべき目標を含む、前記患者の身体の前記解剖学的部分のボリュームの画像と関連データを生成するステップであって、前記関連データのうちの少なくとも1つは、前記1つまたは複数の拡散MRIデータセットから生成される前記解剖学的部分の前記ボリュームのトラクトグラフィは、視覚変調を提供することで構成されるタイプ変調が行われることを含み、
前記タイプ変調が行われることは、透明度、色付け、外形、および色の諧調の少なくとも一つを提供することを含む、請求項10に記載の方法。 - 前記タイプ変調が行われることは、手術目的に従って前記視覚変調を提供することを含む、請求項16に記載の方法。
- 前記コンピュータの記憶メモリデバイスを使用することは、1つまたは複数の仮想医療器具のデータベースを記憶するようさらに構成され、
前記記憶デバイスと通信する前記コンピュータのコンピュータプロセッサを使用することは、点別手術軌跡経路に沿った前記医療器具の視覚表現を前記仮想医療器具のデータベースから生成するようコンピュータプロセッサにプログラムすることをさらに含む、
請求項10〜17のいずれか一項に記載の方法。 - 前記コンピュータのコンピュータプロセッサを用いて、手術目的が、前記仮想医療器具と前記可能性のある手術軌道経路の少なくとも1つとの交点、前記仮想医療器具の周辺、前記仮想医療器具と束との間のカットオフ角度、束の長さ、束の端から前記仮想医療器具までの距離、前記仮想医療器具の端からの距離、束の相対密度、前記仮想医療器具の長さに沿った束の位置、前記解剖学的部分内の前記束の位置、前記解剖学的部分内の前記仮想医療器具の位置、および前記解剖学的部分に対する束の方向の少なくとも一つである、請求項18に記載の方法。
- 患者の身体内の組織中の1つまたは複数の目標までの1つまたは複数の手術軌跡経路を計画するためのコンピュータプログラムが内部に記憶されているコンピュータ可読記憶媒体であって、前記コンピュータプログラムは、コンピュータ上で実行されると、
コンピュータの記憶メモリデバイスを用いて、前記患者の身体の解剖学的部分の1つまたは複数のイメージングモダリティからの1つまたは複数の術前のイメージングデータセットを記憶メモリデバイスに記憶するステップであって、前記1つまたは複数のイメージングデータセットのうちの少なくとも1つが、1つまたは複数の拡散MRIデータセットである、ステップと、
コンピュータのコンピュータプロセッサを用いて、前記1つまたは複数のイメージングデータセットを処理するステップであって、前記1つまたは複数の術前のイメージングデータセットから、1つまたは複数の前記組織への可能性のある脳溝入口点および1つまたは複数のアプローチされるべき目標を含む、前記患者の身体の前記解剖学的部分のボリュームの1つまたは複数の画像と関連データを生成するステップであって、前記関連データのうちの少なくとも1つは、前記1つまたは複数の拡散MRIデータセットから生成される前記解剖学的部分の前記ボリュームのトラクトグラフィである、ステップと、
コンピュータの記憶メモリデバイスを用いて、前記ボリュームの前記画像と関連データを記憶するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、外科的処置の間にアプローチされるべき前記1つまたは複数の目標の位置のユーザの選択を受信し、前記1つまたは複数の目標の位置を前記記憶メモリデバイスに記憶するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記画像と関連データボリュームを表示するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記患者の組織への前記1つまたは複数の可能性のある脳溝入口点のユーザの選択を受信するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記1つまたは複数の可能性のある脳溝入口点から前記1つまたは複数の目標までの1つまたは複数の可能性のある手術軌跡経路と、前記トラクトグラフィおよび前記解剖学的部分の前記ボリューム内のその他の選択される解剖学的特徴との相互作用と、を表示するステップと、
コンピュータのコンピュータ・ユーザインターフェースを通して、前記1つまたは複数の可能性のある手術軌跡経路からの1つまたは複数の手術軌跡経路のユーザの選択を受け入れるステップと、
コンピュータの記憶メモリデバイスを用いて、前記1つまたは複数の手術軌跡経路を前記記憶メモリデバイスに記憶するステップと
コンピュータ・プロセッサ用いて、1つ以上の外科的軌跡経路にスコアをつけるためにさらにプログラムされるステップにおいて、スコアをつけることは、2つの格子点の間の直接経路に沿って積算された少なくとも一つのピクセル強度、平均損傷量、経路長さ、方向変化に使用されるウェイポイントの数、浸透性組織構造の性質、統計的患者回復データ、 血管、浸透性組織構造の長さ、および横断性組織構造の脆弱性、に基づく重み付けで構成される、ステップと、
を含むステップをプログラムされている、コンピュータ可読記憶媒体。
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361800155P | 2013-03-15 | 2013-03-15 | |
US61/800,155 | 2013-03-15 | ||
US201361845256P | 2013-07-11 | 2013-07-11 | |
US61/845,256 | 2013-07-11 | ||
US201361900122P | 2013-11-05 | 2013-11-05 | |
US61/900,122 | 2013-11-05 | ||
US201461924993P | 2014-01-08 | 2014-01-08 | |
US61/924,993 | 2014-01-08 | ||
PCT/CA2014/050272 WO2014139024A1 (en) | 2013-03-15 | 2014-03-14 | Planning, navigation and simulation systems and methods for minimally invasive therapy |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016517288A JP2016517288A (ja) | 2016-06-16 |
JP2016517288A5 JP2016517288A5 (ja) | 2017-04-13 |
JP6568478B2 true JP6568478B2 (ja) | 2019-08-28 |
Family
ID=51535741
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015561870A Active JP6568478B2 (ja) | 2013-03-15 | 2014-03-14 | 低侵襲治療のための計画、誘導およびシミュレーションシステムおよび方法 |
Country Status (10)
Country | Link |
---|---|
US (3) | US9600138B2 (ja) |
EP (1) | EP2967350A4 (ja) |
JP (1) | JP6568478B2 (ja) |
CN (1) | CN105636541B (ja) |
AU (1) | AU2014231346B2 (ja) |
CA (2) | CA2949252C (ja) |
HK (1) | HK1221141A1 (ja) |
MY (1) | MY179739A (ja) |
SG (1) | SG11201507610RA (ja) |
WO (1) | WO2014139024A1 (ja) |
Families Citing this family (329)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009067680A1 (en) * | 2007-11-23 | 2009-05-28 | Mercury Computer Systems, Inc. | Automatic image segmentation methods and apparartus |
US8617171B2 (en) * | 2007-12-18 | 2013-12-31 | Otismed Corporation | Preoperatively planning an arthroplasty procedure and generating a corresponding patient specific arthroplasty resection guide |
EP2622594B1 (en) | 2010-10-01 | 2018-08-22 | Applied Medical Resources Corporation | Portable laparoscopic trainer |
KR101963610B1 (ko) | 2011-10-21 | 2019-03-29 | 어플라이드 메디컬 리소시스 코포레이션 | 수술 트레이닝용 모의 조직 구조 |
CA2859967A1 (en) | 2011-12-20 | 2013-06-27 | Applied Medical Resources Corporation | Advanced surgical simulation |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
JP2015525904A (ja) | 2012-08-03 | 2015-09-07 | アプライド メディカル リソーシーズ コーポレイション | 外科訓練のための模擬ステープリングおよびエネルギーに基づく結紮 |
CA2885433C (en) | 2012-09-26 | 2023-04-04 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
EP4276801A3 (en) | 2012-09-27 | 2024-01-03 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
US10679520B2 (en) | 2012-09-27 | 2020-06-09 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
JP6245531B2 (ja) | 2012-09-27 | 2017-12-13 | アプライド メディカル リソーシーズ コーポレイション | 腹腔鏡下手技用の外科用訓練モデル |
WO2014052808A1 (en) | 2012-09-28 | 2014-04-03 | Applied Medical Resources Corporation | Surgical training model for transluminal laparoscopic procedures |
WO2014052868A1 (en) | 2012-09-28 | 2014-04-03 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
US9402637B2 (en) | 2012-10-11 | 2016-08-02 | Howmedica Osteonics Corporation | Customized arthroplasty cutting guides and surgical methods using the same |
EP2926320B1 (en) * | 2012-11-30 | 2019-04-17 | Koninklijke Philips N.V. | Tissue surface roughness quantification based on image data and determination of a presence of disease based thereon |
ES2897418T3 (es) | 2013-03-01 | 2022-03-01 | Applied Med Resources | Construcciones y métodos de simulación quirúrgica avanzada |
US11278353B2 (en) | 2016-03-16 | 2022-03-22 | Synaptive Medical Inc. | Trajectory alignment system and methods |
US20140276872A1 (en) | 2013-03-15 | 2014-09-18 | Otismed Corporation | Customized acetabular cup positioning guide and system and method of generating and employing such a guide |
SG11201507610RA (en) * | 2013-03-15 | 2015-10-29 | Synaptive Medical Barbados Inc | Planning, navigation and simulation systems and methods for minimally invasive therapy |
CA3139494A1 (en) | 2013-05-15 | 2014-11-20 | Applied Medical Resources Corporation | Hernia model |
WO2014194167A1 (en) * | 2013-05-31 | 2014-12-04 | University Of Washington Through Its Center For Commercialization | Surgery pathway guidance and boundary system |
KR102231989B1 (ko) | 2013-06-18 | 2021-03-25 | 어플라이드 메디컬 리소시스 코포레이션 | 수술 절차들을 가르치고 실습하기 위한 담낭 모델 |
JP6517201B2 (ja) | 2013-07-24 | 2019-05-22 | アプライド メディカル リソーシーズ コーポレイション | ファーストエントリーモデル |
US10198966B2 (en) | 2013-07-24 | 2019-02-05 | Applied Medical Resources Corporation | Advanced first entry model for surgical simulation |
JP6422637B2 (ja) * | 2013-08-20 | 2018-11-14 | 国立大学法人京都大学 | 磁気共鳴イメージング装置及び画像処理装置 |
US10025479B2 (en) * | 2013-09-25 | 2018-07-17 | Terarecon, Inc. | Advanced medical image processing wizard |
WO2015085319A1 (en) * | 2013-12-06 | 2015-06-11 | The Johns Hopkins University | Gross feature recognition of anatomical images based on atlas grid |
CA2935873C (en) * | 2014-01-06 | 2022-10-25 | Body Vision Medical Ltd. | Surgical devices and methods of use thereof |
WO2015124388A1 (en) * | 2014-02-19 | 2015-08-27 | Koninklijke Philips N.V. | Motion adaptive visualization in medical 4d imaging |
US10149618B1 (en) | 2014-03-12 | 2018-12-11 | The Board Of Regents Of The University Of Texas System | Subdural electrode localization and visualization using parcellated, manipulable cerebral mesh models |
KR102438168B1 (ko) | 2014-03-26 | 2022-08-31 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 절개가능 조직 |
WO2015168781A1 (en) * | 2014-05-06 | 2015-11-12 | Conceptualiz Inc. | System and method for interactive 3d surgical planning and modelling of surgical implants |
US10643371B2 (en) * | 2014-08-11 | 2020-05-05 | Covidien Lp | Treatment procedure planning system and method |
WO2016058076A1 (en) * | 2014-10-14 | 2016-04-21 | Synaptive Medical (Barbados) Inc. | Patient reference tool |
US9818188B2 (en) * | 2014-10-17 | 2017-11-14 | Synaptive Medical (Barbados) Inc. | System and method for connectivity mapping |
CN104337518B (zh) * | 2014-10-29 | 2017-03-22 | 杭州师范大学 | 一种基于静息态功能磁共振的术前脑功能网络定位方法 |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
GB201501157D0 (en) * | 2015-01-23 | 2015-03-11 | Scopis Gmbh | Instrument guidance system for sinus surgery |
KR102615540B1 (ko) | 2014-11-13 | 2023-12-19 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 조직 모델들 및 방법들 |
US9536309B2 (en) | 2014-11-27 | 2017-01-03 | Synaptive Medical (Barbados) Inc. | Method, system and apparatus for displaying surgical engagement paths |
WO2016092420A1 (en) | 2014-12-08 | 2016-06-16 | Koninklijke Philips N.V. | Devices, systems, and methods for vessel assessment and intervention recommendation |
BR112017011837A2 (pt) * | 2014-12-08 | 2018-02-27 | Koninklijke Philips Nv | método de processamento de imagens, sistema de processamento de imagens, elemento de programa de computador para controlar um sistema, e meio legível por computador |
CN107111875B (zh) * | 2014-12-09 | 2021-10-08 | 皇家飞利浦有限公司 | 用于多模态自动配准的反馈 |
US11026750B2 (en) * | 2015-01-23 | 2021-06-08 | Queen's University At Kingston | Real-time surgical navigation |
US10013808B2 (en) | 2015-02-03 | 2018-07-03 | Globus Medical, Inc. | Surgeon head-mounted display apparatuses |
JP6806684B2 (ja) | 2015-02-19 | 2021-01-06 | アプライド メディカル リソーシーズ コーポレイション | 模擬組織構造体および方法 |
WO2016183412A1 (en) | 2015-05-14 | 2016-11-17 | Applied Medical Resources Corporation | Synthetic tissue structures for electrosurgical training and simulation |
US10376335B2 (en) | 2015-05-20 | 2019-08-13 | Siemens Healthcare Gmbh | Method and apparatus to provide updated patient images during robotic surgery |
US9622831B2 (en) * | 2015-05-20 | 2017-04-18 | Siemens Healthcare Gmbh | Method and apparatus to provide updated patient images during robotic surgery |
TWI595437B (zh) * | 2015-06-05 | 2017-08-11 | 鈦隼生物科技股份有限公司 | 術中追蹤方法 |
JP6820281B2 (ja) | 2015-06-09 | 2021-01-27 | アプライド メディカル リソーシーズ コーポレイション | 子宮摘出術モデル |
US11119171B2 (en) | 2015-07-16 | 2021-09-14 | Synaptive Medical Inc. | Systems and methods for adaptive multi-resolution magnetic resonance imaging |
CA2992552A1 (en) | 2015-07-16 | 2017-01-19 | Applied Medical Resources Corporation | Simulated dissectable tissue |
ES2883261T3 (es) | 2015-07-22 | 2021-12-07 | Applied Med Resources | Modelo de apendicectomía |
US10973587B2 (en) | 2015-08-19 | 2021-04-13 | Brainlab Ag | Reference array holder |
US10188465B2 (en) * | 2015-08-26 | 2019-01-29 | Biosense Webster (Israel) Ltd. | Automatic ENT surgery preplanning using a backtracking maze problem solution |
JP6707330B2 (ja) * | 2015-09-10 | 2020-06-10 | キヤノンメディカルシステムズ株式会社 | 画像処理装置及び磁気共鳴イメージング装置 |
KR20240037386A (ko) | 2015-10-02 | 2024-03-21 | 어플라이드 메디컬 리소시스 코포레이션 | 자궁 절제술 모델 |
WO2017060753A1 (en) * | 2015-10-06 | 2017-04-13 | Synaptive Medical (Barbados) Inc. | Method, system and apparatus for image-guided insertion of implant devices |
US10058393B2 (en) | 2015-10-21 | 2018-08-28 | P Tech, Llc | Systems and methods for navigation and visualization |
CA3005782C (en) * | 2015-11-19 | 2023-08-08 | Synaptive Medical (Barbados) Inc. | Neurosurgical mri-guided ultrasound via multi-modal image registration and multi-sensor fusion |
US10706743B2 (en) | 2015-11-20 | 2020-07-07 | Applied Medical Resources Corporation | Simulated dissectible tissue |
WO2017106645A1 (en) * | 2015-12-18 | 2017-06-22 | The Regents Of The University Of California | Interpretation and quantification of emergency features on head computed tomography |
JP6835850B2 (ja) * | 2015-12-29 | 2021-02-24 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 手術ロボットの制御のためのシステム、制御ユニット、及び方法 |
CN114652440A (zh) | 2016-01-06 | 2022-06-24 | 波士顿科学医学有限公司 | 用于计划医疗过程的系统和方法 |
WO2017132745A1 (en) * | 2016-02-05 | 2017-08-10 | Synaptive Medical (Barbados) Inc. | System and method for providing surgical guidance based on polarization-sensitive optical coherence tomography |
ES2973208T3 (es) | 2016-02-16 | 2024-06-19 | Mentice Ab | Sistemas para encaminar un catéter dentro de un vaso |
US11317874B2 (en) | 2016-03-04 | 2022-05-03 | Brainsview Inc. | System, process, and devices for real-time brain monitoring in epileptic spasms and hypsarrhythmia |
US11219394B2 (en) | 2016-03-04 | 2022-01-11 | Brainsview Inc. | System, process, and devices for real-time brain monitoring in panic and anxiety disorder |
CA2975184C (en) | 2016-03-04 | 2018-09-18 | Vera Nenadovic | System, process, and devices for real-time brain monitoring |
WO2017158180A1 (en) * | 2016-03-17 | 2017-09-21 | Koninklijke Philips N.V. | Control unit, system and method for controlling hybrid robot having rigid proximal portion and flexible distal portion |
US11494984B2 (en) * | 2016-03-31 | 2022-11-08 | Brainlab Ag | Atlas-based calculation of a flight-path through a virtual representation of anatomical structures |
US10390892B2 (en) * | 2017-08-24 | 2019-08-27 | Synaptive Medical Inc. | System and methods for updating patient registration during surface trace acquisition |
SE542045C2 (en) * | 2016-05-15 | 2020-02-18 | Ortoma Ab | Calibration object, system, and method calibrating location of instrument in a navigation system |
WO2017198518A1 (en) * | 2016-05-16 | 2017-11-23 | Koninklijke Philips N.V. | Image data processing device |
KR102405187B1 (ko) | 2016-06-27 | 2022-06-07 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 복벽 |
US11819284B2 (en) | 2016-06-30 | 2023-11-21 | Intuitive Surgical Operations, Inc. | Graphical user interface for displaying guidance information during an image-guided procedure |
CN109414180B (zh) * | 2016-06-30 | 2022-01-07 | 直观外科手术操作公司 | 在图像引导程序期间以多种模式显示指导信息的图形用户界面 |
WO2018034661A1 (en) * | 2016-08-18 | 2018-02-22 | Stryker European Holdings I, Llc | Method for visualizing a bone |
AU2017319717B2 (en) * | 2016-09-04 | 2020-06-18 | Universitat Bern | System for determining proximity of a surgical tool to key anatomical features |
US11026648B2 (en) * | 2016-09-23 | 2021-06-08 | Koninklijke Philips N.V. | Volume presentation for planning a location of an injection point |
GB201616283D0 (en) | 2016-09-26 | 2016-11-09 | Ucl Business Plc | A system and method for computer assisted planning of a trajectory for a surgical insertion into a skull |
JP6608111B2 (ja) * | 2016-09-28 | 2019-11-20 | 富士フイルム株式会社 | 医用画像保存再生装置および方法並びにプログラム |
EP3518804B1 (en) | 2016-09-29 | 2021-05-12 | Koninklijke Philips N.V. | System and method for planning and performing an interventional procedure based on the spatial relationships between identified points |
WO2018071999A1 (en) * | 2016-10-21 | 2018-04-26 | Synaptive Medical (Barbados) Inc. | Mixed reality training system |
US10932749B2 (en) | 2016-11-09 | 2021-03-02 | Fujifilm Sonosite, Inc. | Ultrasound system for enhanced instrument visualization |
WO2018098213A1 (en) * | 2016-11-23 | 2018-05-31 | Wake Forest University Health Sciences | Medical image analysis using mechanical deformation information |
CN106777934B (zh) * | 2016-12-02 | 2019-04-30 | 哈尔滨工业大学 | 一种用于分析CaMKII致室性心律失常的仿真系统 |
WO2018109556A1 (en) * | 2016-12-12 | 2018-06-21 | Medicrea International | Systems and methods for patient-specific spinal implants |
US11179129B2 (en) | 2016-12-14 | 2021-11-23 | Varian Medical Systems, Inc. | Systems and methods for planning and executing automated multi-axis motion in treatment |
US11842030B2 (en) * | 2017-01-31 | 2023-12-12 | Medtronic Navigation, Inc. | Method and apparatus for image-based navigation |
EP3583589A1 (en) | 2017-02-14 | 2019-12-25 | Applied Medical Resources Corporation | Laparoscopic training system |
US10847057B2 (en) | 2017-02-23 | 2020-11-24 | Applied Medical Resources Corporation | Synthetic tissue structures for electrosurgical training and simulation |
US9788907B1 (en) * | 2017-02-28 | 2017-10-17 | Kinosis Ltd. | Automated provision of real-time custom procedural surgical guidance |
JP6885896B2 (ja) * | 2017-04-10 | 2021-06-16 | 富士フイルム株式会社 | 自動レイアウト装置および自動レイアウト方法並びに自動レイアウトプログラム |
US11571262B2 (en) * | 2017-04-18 | 2023-02-07 | Intuitive Surgical Operations, Inc. | Graphical user interface for planning a procedure |
CN110621252B (zh) | 2017-04-18 | 2024-03-15 | 直观外科手术操作公司 | 用于监测图像引导程序的图形用户界面 |
AU2018265160B2 (en) | 2017-05-10 | 2023-11-16 | Mako Surgical Corp. | Robotic spine surgery system and methods |
US11033341B2 (en) | 2017-05-10 | 2021-06-15 | Mako Surgical Corp. | Robotic spine surgery system and methods |
JP7144408B2 (ja) * | 2017-06-02 | 2022-09-29 | テルモ株式会社 | 経路選択支援システム、経路選択支援プログラムを記録した記録媒体、および経路選択支援方法 |
TWI670681B (zh) * | 2017-06-04 | 2019-09-01 | 鈦隼生物科技股份有限公司 | 判定手術路徑上一個或多個點之方法和系統 |
WO2019045144A1 (ko) * | 2017-08-31 | 2019-03-07 | (주)레벨소프트 | 의료용 항법 장치를 위한 의료 영상 처리 장치 및 의료 영상 처리 방법 |
WO2019049154A1 (en) * | 2017-09-06 | 2019-03-14 | Technion Research And Development Foundation Limited | MINIMALLY INVASIVE ROBOTIC SURGERY SYSTEM |
KR101995900B1 (ko) * | 2017-09-11 | 2019-07-04 | 뉴로핏 주식회사 | 3차원 뇌지도 생성 방법 및 프로그램 |
WO2019060298A1 (en) | 2017-09-19 | 2019-03-28 | Neuroenhancement Lab, LLC | METHOD AND APPARATUS FOR NEURO-ACTIVATION |
CN109620407B (zh) * | 2017-10-06 | 2024-02-06 | 皇家飞利浦有限公司 | 治疗轨迹引导系统 |
US11288803B2 (en) * | 2017-10-09 | 2022-03-29 | Koninklijke Philips N.V. | Ablation result validation system |
EP3470110A1 (en) * | 2017-10-11 | 2019-04-17 | Université de Rennes 1 | Proficiency assessment system and method for deep brain stimulation (dbs) |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11819231B2 (en) | 2017-10-30 | 2023-11-21 | Cilag Gmbh International | Adaptive control programs for a surgical system comprising more than one type of cartridge |
US11291510B2 (en) | 2017-10-30 | 2022-04-05 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
EP3703604A4 (en) * | 2017-10-30 | 2021-08-11 | Intuitive Surgical Operations, Inc. | GUIDED PORT PLACEMENT SELECTION SYSTEMS AND METHODS |
US11413042B2 (en) | 2017-10-30 | 2022-08-16 | Cilag Gmbh International | Clip applier comprising a reciprocating clip advancing member |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US11311342B2 (en) | 2017-10-30 | 2022-04-26 | Cilag Gmbh International | Method for communicating with surgical instrument systems |
US11317919B2 (en) | 2017-10-30 | 2022-05-03 | Cilag Gmbh International | Clip applier comprising a clip crimping system |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US11564756B2 (en) | 2017-10-30 | 2023-01-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
US11272985B2 (en) | 2017-11-14 | 2022-03-15 | Stryker Corporation | Patient-specific preoperative planning simulation techniques |
US11717686B2 (en) | 2017-12-04 | 2023-08-08 | Neuroenhancement Lab, LLC | Method and apparatus for neuroenhancement to facilitate learning and performance |
KR20200089259A (ko) * | 2017-12-15 | 2020-07-24 | 삼성전자주식회사 | 대화형 원격 의료를 위한 통합 예측 분석 장치 및 동작 방법 |
US10438351B2 (en) | 2017-12-20 | 2019-10-08 | International Business Machines Corporation | Generating simulated photographic anatomical slices |
US10521908B2 (en) | 2017-12-20 | 2019-12-31 | International Business Machines Corporation | User interface for displaying simulated anatomical photographs |
US10614570B2 (en) | 2017-12-20 | 2020-04-07 | International Business Machines Corporation | Medical image exam navigation using simulated anatomical photographs |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11529187B2 (en) | 2017-12-28 | 2022-12-20 | Cilag Gmbh International | Surgical evacuation sensor arrangements |
US11419667B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location |
US11056244B2 (en) * | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US11998193B2 (en) | 2017-12-28 | 2024-06-04 | Cilag Gmbh International | Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation |
US11424027B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Method for operating surgical instrument systems |
US11659023B2 (en) | 2017-12-28 | 2023-05-23 | Cilag Gmbh International | Method of hub communication |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11284936B2 (en) | 2017-12-28 | 2022-03-29 | Cilag Gmbh International | Surgical instrument having a flexible electrode |
US11446052B2 (en) | 2017-12-28 | 2022-09-20 | Cilag Gmbh International | Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US11045591B2 (en) | 2017-12-28 | 2021-06-29 | Cilag Gmbh International | Dual in-series large and small droplet filters |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US11179208B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Cloud-based medical analytics for security and authentication trends and reactive measures |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11423007B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Adjustment of device control programs based on stratified contextual data in addition to the data |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US20190201113A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Controls for robot-assisted surgical platforms |
US11786245B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Surgical systems with prioritized data transmission capabilities |
US11147607B2 (en) | 2017-12-28 | 2021-10-19 | Cilag Gmbh International | Bipolar combination device that automatically adjusts pressure based on energy modality |
US11410259B2 (en) | 2017-12-28 | 2022-08-09 | Cilag Gmbh International | Adaptive control program updates for surgical devices |
US11419630B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Surgical system distributed processing |
US11273001B2 (en) | 2017-12-28 | 2022-03-15 | Cilag Gmbh International | Surgical hub and modular device response adjustment based on situational awareness |
US11969216B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution |
US11266468B2 (en) | 2017-12-28 | 2022-03-08 | Cilag Gmbh International | Cooperative utilization of data derived from secondary sources by intelligent surgical hubs |
US11589888B2 (en) | 2017-12-28 | 2023-02-28 | Cilag Gmbh International | Method for controlling smart energy devices |
US20190201039A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Situational awareness of electrosurgical systems |
US11969142B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US10987178B2 (en) | 2017-12-28 | 2021-04-27 | Ethicon Llc | Surgical hub control arrangements |
US11364075B2 (en) | 2017-12-28 | 2022-06-21 | Cilag Gmbh International | Radio frequency energy device for delivering combined electrical signals |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11602393B2 (en) | 2017-12-28 | 2023-03-14 | Cilag Gmbh International | Surgical evacuation sensing and generator control |
US11234756B2 (en) | 2017-12-28 | 2022-02-01 | Cilag Gmbh International | Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US11069012B2 (en) | 2017-12-28 | 2021-07-20 | Cilag Gmbh International | Interactive surgical systems with condition handling of devices and data capabilities |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US11324557B2 (en) | 2017-12-28 | 2022-05-10 | Cilag Gmbh International | Surgical instrument with a sensing array |
US11559307B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US11160605B2 (en) | 2017-12-28 | 2021-11-02 | Cilag Gmbh International | Surgical evacuation sensing and motor control |
US11278281B2 (en) | 2017-12-28 | 2022-03-22 | Cilag Gmbh International | Interactive surgical system |
US11253315B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Increasing radio frequency to create pad-less monopolar loop |
US11559308B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method for smart energy device infrastructure |
US11076921B2 (en) | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
US11832840B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical instrument having a flexible circuit |
US10943454B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Detection and escalation of security responses of surgical instruments to increasing severity threats |
US11096693B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing |
US11308075B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11576677B2 (en) | 2017-12-28 | 2023-02-14 | Cilag Gmbh International | Method of hub communication, processing, display, and cloud analytics |
US10892995B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11376002B2 (en) | 2017-12-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument cartridge sensor assemblies |
US20190201042A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Determining the state of an ultrasonic electromechanical system according to frequency shift |
US11304763B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use |
US11464535B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Detection of end effector emersion in liquid |
US11304745B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical evacuation sensing and display |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US10758310B2 (en) | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US10966791B2 (en) | 2017-12-28 | 2021-04-06 | Ethicon Llc | Cloud-based medical analytics for medical facility segmented individualization of instrument function |
US11540855B2 (en) | 2017-12-28 | 2023-01-03 | Cilag Gmbh International | Controlling activation of an ultrasonic surgical instrument according to the presence of tissue |
US11317937B2 (en) | 2018-03-08 | 2022-05-03 | Cilag Gmbh International | Determining the state of an ultrasonic end effector |
US11304720B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Activation of energy devices |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11432885B2 (en) | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
US10595887B2 (en) | 2017-12-28 | 2020-03-24 | Ethicon Llc | Systems for adjusting end effector parameters based on perioperative information |
US11571234B2 (en) | 2017-12-28 | 2023-02-07 | Cilag Gmbh International | Temperature control of ultrasonic end effector and control system therefor |
US11304699B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US11100631B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Use of laser light and red-green-blue coloration to determine properties of back scattered light |
US11633237B2 (en) | 2017-12-28 | 2023-04-25 | Cilag Gmbh International | Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures |
US11051876B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Surgical evacuation flow paths |
US11058498B2 (en) | 2017-12-28 | 2021-07-13 | Cilag Gmbh International | Cooperative surgical actions for robot-assisted surgical platforms |
US11311306B2 (en) | 2017-12-28 | 2022-04-26 | Cilag Gmbh International | Surgical systems for detecting end effector tissue distribution irregularities |
US11612444B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Adjustment of a surgical device function based on situational awareness |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11672605B2 (en) | 2017-12-28 | 2023-06-13 | Cilag Gmbh International | Sterile field interactive control displays |
US11291495B2 (en) | 2017-12-28 | 2022-04-05 | Cilag Gmbh International | Interruption of energy due to inadvertent capacitive coupling |
US11318277B2 (en) | 2017-12-31 | 2022-05-03 | Neuroenhancement Lab, LLC | Method and apparatus for neuroenhancement to enhance emotional response |
WO2019137507A1 (en) * | 2018-01-11 | 2019-07-18 | Shenzhen United Imaging Healthcare Co., Ltd. | Systems and methods for surgical route planning |
US10552959B2 (en) * | 2018-02-23 | 2020-02-04 | Cameron Anthony Piron | System and method for using imaging quality metric ranking |
US11707293B2 (en) | 2018-03-08 | 2023-07-25 | Cilag Gmbh International | Ultrasonic sealing algorithm with temperature control |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11986233B2 (en) | 2018-03-08 | 2024-05-21 | Cilag Gmbh International | Adjustment of complex impedance to compensate for lost power in an articulating ultrasonic device |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US11096688B2 (en) | 2018-03-28 | 2021-08-24 | Cilag Gmbh International | Rotary driven firing members with different anvil and channel engagement features |
US11207067B2 (en) | 2018-03-28 | 2021-12-28 | Cilag Gmbh International | Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing |
US11406382B2 (en) | 2018-03-28 | 2022-08-09 | Cilag Gmbh International | Staple cartridge comprising a lockout key configured to lift a firing member |
US11471156B2 (en) | 2018-03-28 | 2022-10-18 | Cilag Gmbh International | Surgical stapling devices with improved rotary driven closure systems |
US11278280B2 (en) | 2018-03-28 | 2022-03-22 | Cilag Gmbh International | Surgical instrument comprising a jaw closure lockout |
US11219453B2 (en) | 2018-03-28 | 2022-01-11 | Cilag Gmbh International | Surgical stapling devices with cartridge compatible closure and firing lockout arrangements |
US10973520B2 (en) | 2018-03-28 | 2021-04-13 | Ethicon Llc | Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature |
US11259806B2 (en) | 2018-03-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein |
CA3097847A1 (en) * | 2018-04-20 | 2019-10-24 | Abdullah Bin ZAHID | Methods and kits for optimization of neurosurgical intervention site |
US11364361B2 (en) | 2018-04-20 | 2022-06-21 | Neuroenhancement Lab, LLC | System and method for inducing sleep by transplanting mental states |
CN109165550B (zh) * | 2018-07-13 | 2021-06-29 | 首都师范大学 | 一种基于无监督深度学习的多模态手术轨迹快速分割方法 |
US11754712B2 (en) | 2018-07-16 | 2023-09-12 | Cilag Gmbh International | Combination emitter and camera assembly |
CN109044530A (zh) * | 2018-07-17 | 2018-12-21 | 哈尔滨理工大学 | 一种前列腺手术机器人的多模态感知系统及数据融合方法 |
US20200022657A1 (en) * | 2018-07-18 | 2020-01-23 | General Electric Company | Minimally invasive procedure analysis and review system and method |
CN109124669A (zh) * | 2018-08-30 | 2019-01-04 | 沈阳柏敖生信生物科技有限公司 | 一种整形前ct数据测量方法 |
US11612438B2 (en) | 2018-09-05 | 2023-03-28 | Point Robotics Medtech Inc. | Navigation system and method for medical operation by a robotic system using a tool |
CN109199424B (zh) * | 2018-09-05 | 2022-05-06 | 赛诺联合医疗科技(北京)有限公司 | 一种基于pet-ct图像确定待消融区域的方法及手术引导方法 |
CN109389040B (zh) * | 2018-09-07 | 2022-05-10 | 广东珺桦能源科技有限公司 | 一种作业现场人员安全着装的检查方法及装置 |
CA3112564A1 (en) | 2018-09-14 | 2020-03-19 | Neuroenhancement Lab, LLC | System and method of improving sleep |
EP3841590A1 (en) * | 2018-10-12 | 2021-06-30 | Sony Corporation | Surgical support system, data processing apparatus and method |
US11497566B2 (en) * | 2018-10-26 | 2022-11-15 | Biosense Webster (Israel) Ltd. | Loose mode for robot |
US11744655B2 (en) | 2018-12-04 | 2023-09-05 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
CN109636901A (zh) * | 2018-12-20 | 2019-04-16 | 暨南大学附属第医院(广州华侨医院) | 一种鼻咽癌乏氧微环境影像组学研究模型建立方法 |
CN109512512A (zh) * | 2019-01-14 | 2019-03-26 | 常州锦瑟医疗信息科技有限公司 | 基于点云匹配的神经外科术中增强现实定位的方法和装置 |
US11744643B2 (en) | 2019-02-04 | 2023-09-05 | Covidien Lp | Systems and methods facilitating pre-operative prediction of post-operative tissue function |
JP7179877B2 (ja) * | 2019-02-08 | 2022-11-29 | 富士フイルム株式会社 | 開頭術シミュレーション装置、方法およびプログラム |
CN110215283B (zh) * | 2019-02-14 | 2020-09-11 | 清华大学 | 基于磁共振成像的颅内手术导航系统 |
US11331101B2 (en) | 2019-02-19 | 2022-05-17 | Cilag Gmbh International | Deactivator element for defeating surgical stapling device lockouts |
US11357503B2 (en) | 2019-02-19 | 2022-06-14 | Cilag Gmbh International | Staple cartridge retainers with frangible retention features and methods of using same |
US11918336B2 (en) * | 2019-02-19 | 2024-03-05 | King Abdullah University Of Science And Technology | Reduced feature generation for signal classification based on position weight matrix |
US11369377B2 (en) | 2019-02-19 | 2022-06-28 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout |
US11317915B2 (en) | 2019-02-19 | 2022-05-03 | Cilag Gmbh International | Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers |
US11751872B2 (en) | 2019-02-19 | 2023-09-12 | Cilag Gmbh International | Insertable deactivator element for surgical stapler lockouts |
US10779890B2 (en) * | 2019-02-27 | 2020-09-22 | Jared Weir | System and method for performing joint replacement surgery using artificial neural network |
TWI766253B (zh) * | 2019-03-19 | 2022-06-01 | 鈦隼生物科技股份有限公司 | 基於影像匹配決定手術路徑之方法與系統 |
US11419616B2 (en) | 2019-03-22 | 2022-08-23 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US20200297357A1 (en) | 2019-03-22 | 2020-09-24 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11382549B2 (en) | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11806084B2 (en) | 2019-03-22 | 2023-11-07 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11317978B2 (en) | 2019-03-22 | 2022-05-03 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11571265B2 (en) | 2019-03-22 | 2023-02-07 | Globus Medical Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
CN109938842B (zh) * | 2019-04-18 | 2021-07-30 | 雅客智慧(北京)科技有限公司 | 面部外科手术定位导航方法及装置 |
USD934892S1 (en) * | 2019-05-03 | 2021-11-02 | Novocure Gmbh | Display screen or portion thereof with a graphical user interface |
US20200352652A1 (en) * | 2019-05-06 | 2020-11-12 | Biosense Webster (Israel) Ltd. | Systems and methods for improving cardiac ablation procedures |
US11786694B2 (en) | 2019-05-24 | 2023-10-17 | NeuroLight, Inc. | Device, method, and app for facilitating sleep |
CN110811831A (zh) * | 2019-05-27 | 2020-02-21 | 苏州六莲科技有限公司 | 肾脏手术精准化自动评价方法及装置 |
USD964564S1 (en) | 2019-06-25 | 2022-09-20 | Cilag Gmbh International | Surgical staple cartridge retainer with a closure system authentication key |
USD950728S1 (en) | 2019-06-25 | 2022-05-03 | Cilag Gmbh International | Surgical staple cartridge |
US11733337B2 (en) * | 2019-06-25 | 2023-08-22 | Synaptive Medical Inc. | Device, system and method for transforming a diffusion-weighted magnetic resonance image to a patient diffusion-weighted magnetic resonance coordinate space |
USD952144S1 (en) | 2019-06-25 | 2022-05-17 | Cilag Gmbh International | Surgical staple cartridge retainer with firing system authentication key |
FR3095332B1 (fr) * | 2019-06-27 | 2023-07-21 | Quantum Surgical | Méthode de planification d’une ablation de tissus basée sur l’apprentissage profond |
CN110537962B (zh) * | 2019-08-08 | 2022-08-09 | 天津工业大学 | 一种快速的3d打印穿刺手术导板方法 |
US11974813B1 (en) | 2019-08-26 | 2024-05-07 | Verily Life Sciences Llc | Efficiency of robotic surgeries via surgical procedure data analysis |
US11958183B2 (en) | 2019-09-19 | 2024-04-16 | The Research Foundation For The State University Of New York | Negotiation-based human-robot collaboration via augmented reality |
US11055849B2 (en) * | 2019-10-18 | 2021-07-06 | Omniscient Neurotechnology Pty Limited | Processing of brain image data to assign voxels to parcellations |
US20210256719A1 (en) * | 2019-11-14 | 2021-08-19 | Transenterix Surgical, Inc. | Method and system for providing surgical site measurement |
JP2023503286A (ja) * | 2019-11-27 | 2023-01-27 | ザクト ロボティクス リミテッド | 医療器具の3次元軌道の計画およびリアルタイム更新 |
FR3104934B1 (fr) | 2019-12-18 | 2023-04-07 | Quantum Surgical | Méthode de planification automatique d’une trajectoire pour une intervention médicale |
US20230082155A1 (en) * | 2019-12-27 | 2023-03-16 | Rainbow Inc. | Integrated system for safe intracranial administration of cells |
US11896442B2 (en) * | 2019-12-30 | 2024-02-13 | Cilag Gmbh International | Surgical systems for proposing and corroborating organ portion removals |
US11744667B2 (en) | 2019-12-30 | 2023-09-05 | Cilag Gmbh International | Adaptive visualization by a surgical system |
US11776144B2 (en) | 2019-12-30 | 2023-10-03 | Cilag Gmbh International | System and method for determining, adjusting, and managing resection margin about a subject tissue |
US11759283B2 (en) | 2019-12-30 | 2023-09-19 | Cilag Gmbh International | Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto |
US11832996B2 (en) | 2019-12-30 | 2023-12-05 | Cilag Gmbh International | Analyzing surgical trends by a surgical system |
US11648060B2 (en) | 2019-12-30 | 2023-05-16 | Cilag Gmbh International | Surgical system for overlaying surgical instrument data onto a virtual three dimensional construct of an organ |
US11284963B2 (en) | 2019-12-30 | 2022-03-29 | Cilag Gmbh International | Method of using imaging devices in surgery |
US11219501B2 (en) | 2019-12-30 | 2022-01-11 | Cilag Gmbh International | Visualization systems using structured light |
US12002571B2 (en) | 2019-12-30 | 2024-06-04 | Cilag Gmbh International | Dynamic surgical visualization systems |
US11413097B2 (en) | 2019-12-31 | 2022-08-16 | Biosense Webster (Israel) Ltd. | Three dimensional mapping system for cranial surgical pathways with semi-targets and method |
US11771505B2 (en) | 2019-12-31 | 2023-10-03 | Biosense Webster (Israel) Ltd. | Three dimensional mapping system for cranial surgical pathways and method |
JP7462051B2 (ja) * | 2020-01-09 | 2024-04-04 | キヤノン ユーエスエイ,インコーポレイテッド | 湾曲器具によるプランニング及び可視化の改良、並びにその湾曲器具 |
CN111243084B (zh) * | 2020-01-10 | 2023-09-26 | 韦崇高 | 一种用于心脏放射治疗中的心脏三维模型构建方法 |
CN111292348B (zh) * | 2020-01-21 | 2023-07-28 | 滨州医学院 | 一种基于自主探针与三维标注置换的mra颅骨剥离方法 |
CN111493905B (zh) * | 2020-03-17 | 2023-05-19 | 首都医科大学附属北京天坛医院 | 一种海绵窦相关颅神经三维可视化导航成像方法及系统 |
BR112022019156A2 (pt) * | 2020-03-26 | 2022-11-08 | Mediview Xr Inc | Modelagem de zona de tratamento holográfica e circuito de retroalimentação para procedimentos cirúrgicos |
US20210342655A1 (en) * | 2020-04-30 | 2021-11-04 | Medtronic Navigation, Inc. | Method And Apparatus To Classify Structures In An Image |
RU2737652C1 (ru) * | 2020-04-30 | 2020-12-01 | федеральное государственное бюджетное образовательное учреждение высшего образования "Приволжский исследовательский медицинский университет" Министерства здравоохранения Российской Федерации (ФГБОУ ВО "ПИМУ" Минздрава России) | Способ прогнозирования риска повреждения функционального тракта головного мозга при удалении внутримозговых опухолей |
US11682187B2 (en) | 2020-04-30 | 2023-06-20 | Medtronic Navigation, Inc. | Method and apparatus to classify structures in an image |
CN111588476B (zh) * | 2020-05-18 | 2021-07-30 | 北京水木东方医用机器人技术创新中心有限公司 | 一种能够实现多区位手术操作控制方法、系统及可读存储介质 |
CN112807083A (zh) * | 2020-06-01 | 2021-05-18 | 上海库欣医疗科技有限公司 | 用于神经外科导航的颅脑穿刺路径建立方法和系统 |
TWI790447B (zh) * | 2020-06-10 | 2023-01-21 | 長庚大學 | 手術路徑定位方法、資訊顯示裝置、電腦可讀取的記錄媒體及特殊應用積體電路晶片 |
WO2022014447A1 (en) * | 2020-07-14 | 2022-01-20 | Sony Group Corporation | Surgical assistance system and method |
CN112057165B (zh) * | 2020-09-22 | 2023-12-22 | 上海联影医疗科技股份有限公司 | 一种路径规划方法、装置、设备和介质 |
US10937542B1 (en) * | 2020-09-18 | 2021-03-02 | Vent Creativity Corporation | Patient specific treatment planning |
TWI772917B (zh) * | 2020-10-08 | 2022-08-01 | 國立中央大學 | 電腦輔助手術路徑規劃之電腦實施方法、電腦輔助處理裝置與電腦程式產品 |
CN112294260B (zh) * | 2020-10-10 | 2022-04-05 | 浙江大学 | 一种磁兼容的光学脑功能成像方法与装置 |
EP3995098A1 (en) | 2020-11-09 | 2022-05-11 | Koninklijke Philips N.V. | Deep brain path planning using augmented reality |
US20220142709A1 (en) * | 2020-11-12 | 2022-05-12 | Mazor Robotics Ltd. | Surgical path planning using artificial intelligence for feature detection |
WO2022113085A1 (en) * | 2020-11-29 | 2022-06-02 | Xact Robotics Ltd. | Virtual simulator for planning and executing robotic steering of a medical instrument |
CN112734704B (zh) * | 2020-12-29 | 2023-05-16 | 上海索验智能科技有限公司 | 基于神经网络机器学习识别实物镜下技能训练评价方法 |
WO2022196494A1 (ja) * | 2021-03-17 | 2022-09-22 | テルモ株式会社 | 情報処理方法、学習モデル生成方法、プログラム及び情報処理装置 |
EP4062852A1 (en) * | 2021-03-23 | 2022-09-28 | Cilag GmbH International | Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto |
WO2022202323A1 (ja) * | 2021-03-24 | 2022-09-29 | テルモ株式会社 | プログラム、情報処理方法及び情報処理装置 |
CN113133813A (zh) * | 2021-04-01 | 2021-07-20 | 上海复拓知达医疗科技有限公司 | 基于穿刺过程的动态信息显示系统及方法 |
EP4326182A2 (en) * | 2021-04-21 | 2024-02-28 | The Cleveland Clinic Foundation | Robotic surgery |
WO2022245833A2 (en) * | 2021-05-17 | 2022-11-24 | Kai Surgical, Llc | System, method and apparatus for robotically performing a medical procedure |
US20220370132A1 (en) * | 2021-05-21 | 2022-11-24 | Cilag Gmbh International | Surgical Simulation Navigation System |
CN113687391A (zh) * | 2021-09-13 | 2021-11-23 | 中国信息通信研究院 | 无线终端的卫星导航定位性能快速测试方法及装置 |
EP4152339A1 (en) | 2021-09-20 | 2023-03-22 | Universität Zürich | Method for determining a surgery plan by means of a reinforcement learning method |
WO2023072973A1 (en) * | 2021-10-27 | 2023-05-04 | Koninklijke Philips N.V. | Identifying a vascular access site |
EP4173585A1 (en) * | 2021-10-27 | 2023-05-03 | Koninklijke Philips N.V. | Method for identifying a vascular access site |
EP4181152A1 (en) * | 2021-11-15 | 2023-05-17 | Koninklijke Philips N.V. | Processing image data for assessing a clinical question |
CN114129263B (zh) * | 2021-11-29 | 2023-07-25 | 武汉联影智融医疗科技有限公司 | 手术机器人路径规划方法、系统、设备及存储介质 |
US11354803B1 (en) * | 2021-12-03 | 2022-06-07 | Omniscient Neurotechnology Pty Limited | Identifying spurious tracts in neuro-networks |
US11410769B1 (en) * | 2021-12-08 | 2022-08-09 | Vent Creativity Corporation | Tactile solutions integration for patient specific treatment |
CN114366296B (zh) * | 2021-12-31 | 2023-05-30 | 杭州脉流科技有限公司 | 改进的微导管路径生成方法、塑形方法、设备和存储介质 |
EP4216225A1 (en) * | 2022-01-20 | 2023-07-26 | Koninklijke Philips N.V. | Cognitive impairment determination apparatus |
WO2023174563A1 (en) * | 2022-03-18 | 2023-09-21 | Brainlab Ag | Biomechanical model for predicting deformations of a patient body |
CN114948199B (zh) * | 2022-05-17 | 2023-08-18 | 天津大学 | 一种外科手术辅助系统及手术路径规划方法 |
CN114944216B (zh) * | 2022-05-22 | 2023-08-01 | 北京航空航天大学 | 一种融合解剖及力学特性的脊柱手术直线型路径自动规划方法 |
US20230419591A1 (en) * | 2022-06-28 | 2023-12-28 | Wisconsin Alumni Research Foundation | Method and Apparatus for Evaluating Surgical Corridors in the Skull |
US11950851B1 (en) * | 2022-10-18 | 2024-04-09 | Ix Innovation Llc | Digital image analysis for device navigation in tissue |
CN116012452B (zh) * | 2023-03-28 | 2023-07-07 | 天津市第四中心医院 | 一种基于超声图像定位靶目标的穿刺导航系统及方法 |
CN117017483B (zh) * | 2023-08-04 | 2024-03-08 | 中国人民解放军空军军医大学 | 一种基于医疗成像的picc尖端引导测量定位方法 |
CN117017494B (zh) * | 2023-08-29 | 2024-06-11 | 哈尔滨海鸿基业科技发展有限公司 | 一种淋巴静脉吻合术的成像导航系统 |
Family Cites Families (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2085885T3 (es) | 1989-11-08 | 1996-06-16 | George S Allen | Brazo mecanico para sistema interactivo de cirugia dirigido por imagenes. |
SG64340A1 (en) | 1996-02-27 | 1999-04-27 | Inst Of Systems Science Nation | Curved surgical instruments and methods of mapping a curved path for stereotactic surgery |
US6112750A (en) * | 1998-03-24 | 2000-09-05 | International Business Machines Corporation | Method and system for assessing risks and prognoses of a given course of medical treatment |
US6390097B1 (en) | 1998-03-24 | 2002-05-21 | International Business Machines Corporation | Method and system for providing artificial intelligence for planning and risk assessment of surgical paths |
US6505065B1 (en) * | 1999-10-29 | 2003-01-07 | Koninklijke Philips Electronics, N.V. | Methods and apparatus for planning and executing minimally invasive procedures for in-vivo placement of objects |
US6671538B1 (en) * | 1999-11-26 | 2003-12-30 | Koninklijke Philips Electronics, N.V. | Interface system for use with imaging devices to facilitate visualization of image-guided interventional procedure planning |
US7607440B2 (en) * | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
US9770261B2 (en) | 2004-10-28 | 2017-09-26 | Nico Corporation | Surgical access assembly and method of using same |
US9387010B2 (en) | 2004-10-28 | 2016-07-12 | Nico Corporation | Surgical access assembly and method of using same |
US7892224B2 (en) | 2005-06-01 | 2011-02-22 | Brainlab Ag | Inverse catheter planning |
US8060181B2 (en) | 2006-04-07 | 2011-11-15 | Brainlab Ag | Risk assessment for planned trajectories |
US8112292B2 (en) * | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
US8160676B2 (en) * | 2006-09-08 | 2012-04-17 | Medtronic, Inc. | Method for planning a surgical procedure |
US8116847B2 (en) | 2006-10-19 | 2012-02-14 | Stryker Corporation | System and method for determining an optimal surgical trajectory |
DE102006061178A1 (de) | 2006-12-22 | 2008-06-26 | Siemens Ag | System zur Durchführung und Überwachung minimal-invasiver Eingriffe |
US20110135569A1 (en) | 2007-03-20 | 2011-06-09 | Peak Biosciences Inc. | Method for therapeutic administration of radionucleosides |
PL2143071T3 (pl) | 2007-04-26 | 2014-09-30 | Koninklijke Philips Nv | Wskaźnik ryzyka przy zabiegach chirurgicznych |
US8175677B2 (en) * | 2007-06-07 | 2012-05-08 | MRI Interventions, Inc. | MRI-guided medical interventional systems and methods |
DE102007029364A1 (de) | 2007-06-26 | 2009-01-02 | Siemens Ag | Verfahren zum Bestimmen eines Zugangs zu einem Areal von einem Gehirn |
US8315689B2 (en) * | 2007-09-24 | 2012-11-20 | MRI Interventions, Inc. | MRI surgical systems for real-time visualizations using MRI image data and predefined data of surgical tools |
US9002076B2 (en) | 2008-04-15 | 2015-04-07 | Medtronic, Inc. | Method and apparatus for optimal trajectory planning |
US20090326336A1 (en) | 2008-06-25 | 2009-12-31 | Heinz Ulrich Lemke | Process for comprehensive surgical assist system by means of a therapy imaging and model management system (TIMMS) |
US20110245625A1 (en) * | 2008-12-29 | 2011-10-06 | Koninklijke Philips Electronics N.V. | Path planning for reducing tissue damage in minimally invasive surgery |
US8335552B2 (en) | 2009-03-20 | 2012-12-18 | Medtronic, Inc. | Method and apparatus for instrument placement |
JP2012528604A (ja) * | 2009-06-01 | 2012-11-15 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 距離ベースの位置追跡方法及びシステム |
JP5727474B2 (ja) * | 2009-07-15 | 2015-06-03 | コーニンクレッカ フィリップス エヌ ヴェ | 手術軌道の可視化 |
WO2011017535A2 (en) | 2009-08-05 | 2011-02-10 | University Of South Florida | Method of rapidly visualizing essential neural pathways |
US8942446B2 (en) | 2010-04-14 | 2015-01-27 | Koninklijke Philips N.V. | System and method for planning a neurosurgical operation |
EP2622594B1 (en) | 2010-10-01 | 2018-08-22 | Applied Medical Resources Corporation | Portable laparoscopic trainer |
WO2012092511A2 (en) | 2010-12-29 | 2012-07-05 | The Ohio State University | Automated trajectory planning for stereotactic procedures |
US9814442B2 (en) | 2011-01-17 | 2017-11-14 | Koninklijke Philips N.V. | System and method for needle deployment detection in image-guided biopsy |
US9286671B2 (en) * | 2011-01-20 | 2016-03-15 | Medtronic Bakken Research Center B.V. | Method for determining at least one applicable path of movement for an object in tissue |
KR20130015146A (ko) | 2011-08-02 | 2013-02-13 | 삼성전자주식회사 | 의료 영상 처리 방법 및 장치, 영상 유도를 이용한 로봇 수술 시스템 |
US9008414B2 (en) | 2011-10-04 | 2015-04-14 | Medtronic Navigation, Inc. | Method and apparatus for assisted trajectory planning |
WO2013141974A1 (en) | 2012-02-08 | 2013-09-26 | Convergent Life Sciences, Inc. | System and method for using medical image fusion |
US20140081659A1 (en) | 2012-09-17 | 2014-03-20 | Depuy Orthopaedics, Inc. | Systems and methods for surgical and interventional planning, support, post-operative follow-up, and functional recovery tracking |
US10022520B2 (en) | 2012-12-17 | 2018-07-17 | Nico Corporation | Surgical access system |
SG11201507610RA (en) * | 2013-03-15 | 2015-10-29 | Synaptive Medical Barbados Inc | Planning, navigation and simulation systems and methods for minimally invasive therapy |
JP2016525391A (ja) | 2013-07-11 | 2016-08-25 | シナプティヴ メディカル (バルバドス) インコーポレイテッドSynaptive Medical (Barbados) Inc. | 外科研修及び撮像脳ファントム |
-
2014
- 2014-03-14 SG SG11201507610RA patent/SG11201507610RA/en unknown
- 2014-03-14 US US14/769,668 patent/US9600138B2/en active Active
- 2014-03-14 AU AU2014231346A patent/AU2014231346B2/en active Active
- 2014-03-14 WO PCT/CA2014/050272 patent/WO2014139024A1/en active Application Filing
- 2014-03-14 EP EP14765445.3A patent/EP2967350A4/en not_active Ceased
- 2014-03-14 CA CA2949252A patent/CA2949252C/en active Active
- 2014-03-14 CN CN201480015320.2A patent/CN105636541B/zh active Active
- 2014-03-14 MY MYPI2015703232A patent/MY179739A/en unknown
- 2014-03-14 JP JP2015561870A patent/JP6568478B2/ja active Active
- 2014-03-14 CA CA2899359A patent/CA2899359C/en active Active
-
2016
- 2016-08-09 HK HK16109458.8A patent/HK1221141A1/zh unknown
-
2017
- 2017-02-02 US US15/422,683 patent/US9734632B2/en active Active
- 2017-07-11 US US15/646,946 patent/US10255723B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2967350A4 (en) | 2017-03-01 |
MY179739A (en) | 2020-11-12 |
EP2967350A1 (en) | 2016-01-20 |
US20160070436A1 (en) | 2016-03-10 |
AU2014231346A1 (en) | 2015-11-05 |
CA2899359A1 (en) | 2014-09-18 |
HK1221141A1 (zh) | 2017-05-26 |
US20170309069A1 (en) | 2017-10-26 |
WO2014139024A1 (en) | 2014-09-18 |
JP2016517288A (ja) | 2016-06-16 |
AU2014231346B2 (en) | 2018-03-08 |
CA2899359C (en) | 2017-01-17 |
CA2949252A1 (en) | 2014-09-18 |
CA2949252C (en) | 2021-11-09 |
SG11201507610RA (en) | 2015-10-29 |
US20170148213A1 (en) | 2017-05-25 |
CN105636541B (zh) | 2019-07-09 |
US9600138B2 (en) | 2017-03-21 |
US10255723B2 (en) | 2019-04-09 |
CN105636541A (zh) | 2016-06-01 |
US9734632B2 (en) | 2017-08-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6568478B2 (ja) | 低侵襲治療のための計画、誘導およびシミュレーションシステムおよび方法 | |
US10510268B2 (en) | Multi-metric surgery simulator and methods | |
CN106061424B (zh) | 用于跟踪穿刺器械的系统和方法 | |
EP2044884B1 (de) | Bestimmung und Erkennung von Lageänderungen von Körperstrukturteilen | |
US20150011866A1 (en) | Probe for Surgical Navigation | |
US10588702B2 (en) | System and methods for updating patient registration during surface trace acquisition | |
CA2976573C (en) | Methods for improving patient registration | |
JP7111680B2 (ja) | デバイス対画像レジストレーションアルゴリズムからの結果の可視化及び操作 | |
Zelmann et al. | Improving recorded volume in mesial temporal lobe by optimizing stereotactic intracranial electrode implantation planning | |
JP2021526050A (ja) | 処置を実施および評価するためのシステムおよび方法 | |
JP7022723B2 (ja) | マルチプローブ誘導のためのシステムおよび方法 | |
US20220354579A1 (en) | Systems and methods for planning and simulation of minimally invasive therapy | |
Linte et al. | Image-guided procedures: tools, techniques, and clinical applications | |
Liu et al. | Path planning for percutaneous lung biopsy based on the loose-Pareto and adaptive heptagonal optimization method | |
JP7179877B2 (ja) | 開頭術シミュレーション装置、方法およびプログラム | |
CN109671498B (zh) | 消融结果确认系统 | |
Skyrman | Advanced Cranial Navigation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170308 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170308 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180119 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180305 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20180530 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180719 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190104 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190327 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190705 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190802 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6568478 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |